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@Article{guolarge,
  Title                    = {Large-Scale Cooperative {3D} Visual-Inertial Mapping in a Manhattan World},
  Author                   = {Guo, Chao X and Sartipi, Kourosh and DuToit, Ryan C and Georgiou, Georgios and Li, Ruipeng and O’Leary, John and Nerurkar, Esha D and Hesch, Joel A and Roumeliotis, Stergios I}
}

@article{holzmanndirect,
  title={Direct Stereo Visual Odometry Based on Lines},
  author={Holzmann, Thomas and Fraundorfer, Friedrich and Bischof, Horst}
}

@inproceedings{vacchetti2004combining,
  title={Combining edge and texture information for real-time accurate 3d camera tracking},
  author={Vacchetti, Luca and Lepetit, Vincent and Fua, Pascal},
  booktitle={Mixed and Augmented Reality, 2004. ISMAR 2004. Third IEEE and ACM International Symposium on},
  pages={48--56},
  year={2004},
  organization={IEEE}
}

@inproceedings{kottas2013efficient,
  title={Efficient and consistent vision-aided inertial navigation using line observations},
  author={Kottas, Dimitrios G and Roumeliotis, Stergios I},
  booktitle={Robotics and Automation (ICRA), 2013 IEEE International Conference on},
  pages={1540--1547},
  year={2013},
  organization={IEEE}
}
